CN113479270B - Clamping type tree climbing robot - Google Patents
Clamping type tree climbing robot Download PDFInfo
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- CN113479270B CN113479270B CN202110845818.3A CN202110845818A CN113479270B CN 113479270 B CN113479270 B CN 113479270B CN 202110845818 A CN202110845818 A CN 202110845818A CN 113479270 B CN113479270 B CN 113479270B
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- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The application discloses tree robot is climbed to centre gripping formula includes: the device comprises a frame, a clamping device and a transmission device; the transmission device comprises: the driving rod is connected with the driven rod; a driving bevel gear is fixedly connected to the driving rod; one end of the driven rod is fixedly connected with a driven bevel gear; the driven bevel gear is in transmission connection with the driving bevel gear; the rotating driver is arranged on the frame, and the output end of the rotating driver is synchronously and rotatably connected with the driving rod; the clamping device comprises: two clamping arms and a linear driver; the two clamping arms are arranged at intervals; the arm lock includes: the sleeve rod, the connecting rod and the driven rod; the driven rod can be rotatably sleeved on the loop bar, the other end of the driven rod extends out of one end of the loop bar, and the driven rod is used for clamping a trunk; the loop bar is rotatably connected with the frame along the horizontal direction, and the other end of the loop bar is connected with one end of the connecting rod in a rotatable manner; the linear driver is arranged on the rack, is rotatably connected with the other end of the connecting rod and is used for driving the two clamping arms to be close to or far away from each other. The application can improve the safety of climbing.
Description
Technical Field
The application relates to the technical field of tree climbing robots, in particular to a clamping type tree climbing robot.
Background
With the increasing of the number of fast-growing forest varieties in China, the safety of a power grid is affected after trees below an electric line grow to be highly contacted with a cable, and serious accidents are caused, so that the trees need to be frequently trimmed.
In the prior art, the tree climbing robot mostly adopts a wheel type or crawler type to ascend, the safety is poor, and accidents are easy to happen.
Disclosure of Invention
In view of this, the present application provides a clamping type tree climbing robot, which is used to solve the problem that the existing tree climbing robot is poor in safety.
In order to achieve the above technical object, the present application provides a clamping type tree climbing robot, including: the device comprises a frame, a clamping device and a transmission device;
the transmission device includes: the driving rod is connected with the driven rod;
a driving bevel gear is fixedly connected to the driving rod;
one end of the driven rod is fixedly connected with a driven bevel gear;
the driven bevel gear is in transmission connection with the driving bevel gear;
the rotating driver is arranged on the rack, and the output end of the rotating driver is synchronously and rotatably connected with the driving rod and is used for driving the driving rod to rotate so as to drive the driven rod to rotate;
the clamping device includes: two clamping arms and a linear driver;
the two clamping arms are arranged at intervals;
the arm lock includes: the sleeve rod, the connecting rod and the driven rod are connected with the connecting rod;
the driven rod is rotatably sleeved on the loop rod, the other end of the driven rod extends out of one end of the loop rod, and the driven rod is used for clamping a trunk;
the loop bar is rotatably connected with the rack along the horizontal direction, and the other end of the loop bar is rotatably connected with one end of the connecting rod;
the linear driver is arranged on the rack, is rotatably connected with the other end of the connecting rod and is used for driving the connecting rod to move so as to drive the two clamping arms to be close to or far away from each other.
Further, the transmission device further includes: a drive bevel gear;
the radial directions of the driving bevel gear and the driven bevel gear are vertical;
the radial direction of the transmission bevel gear is the horizontal direction;
the transmission bevel gear is rotatably arranged on the rack and is respectively in meshed connection with the driving bevel gear and the driven bevel gear.
Further, the loop bar rotates coaxially with the transmission bevel gear.
Further, the other end of the driven rod is provided with a concave wheel for clamping the trunk.
Further, still include: a driven gripping device;
the driven clamping device includes: two driven clamp arms; driven arm lock includes: two clamping rods and a driven connecting rod;
the two clamping rods are positioned vertically below the two driven rods;
the clamping rod is rotatably connected with the rack along the horizontal direction, and one end of the clamping rod is rotatably connected with one end of the driven connecting rod;
the other end of the driven connecting rod is rotatably connected with the output end of the linear driver.
Further, the end of the clamping rod is provided with a concave wheel for clamping the trunk.
Further, the linear actuator is a cylinder.
Further, the rotary drive is a pneumatic motor.
According to the technical scheme, the application provides a tree robot is climbed to centre gripping formula can drive the driven lever through rotating the driver and rotate and then realize along the trunk climbing along the trunk, can adjust the interval realization of driven lever through sharp driver and press from both sides tight trunk, thereby reduces the possibility that drops and improves the security.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a top view of a clamp-type tree climbing robot provided in an embodiment of the present application;
fig. 2 is a rear sectional view of a clamping type tree-climbing robot provided in an embodiment of the present application;
fig. 3 is a side view of a clamp-type tree climbing robot according to an embodiment of the present disclosure;
in the figure: 1. a frame; 2. a rotation driver; 3. a driving lever; 31. a drive bevel gear; 4. a driven lever; 41. a driven bevel gear; 5. a linear actuator; 6. a loop bar; 7. a connecting rod; 8. a drive bevel gear; 9. a first concave wheel; 10. a clamping bar; 11. a driven connecting rod; 12. a second concave wheel.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection claimed herein.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses clamping type tree climbing robot.
Referring to fig. 1, an embodiment of the present application provides a clamping tree climbing robot, including: frame 1, clamping device and transmission.
Wherein, transmission includes: the driver 2, the driving rod 3 and the driven rod 4 are rotated; a driving bevel gear 31 is fixedly connected to the driving rod 3; one end of the driven rod 4 is fixedly connected with a driven bevel gear 41; the driven bevel gear 41 is in transmission connection with the drive bevel gear 31; the rotary driver 2 is arranged on the frame 1, and the output end of the rotary driver is synchronously and rotatably connected with the driving rod 3 and used for driving the driving rod 3 to rotate so as to drive the driven rod 4 to rotate.
The clamping device comprises: two clamp arms and a linear driver 5; the two clamping arms are arranged at intervals; the arm lock includes: a loop bar 6, a connecting bar 7 and a driven bar 4; the driven rod 4 can be rotatably sleeved on the loop bar 6, and the other end of the driven rod extends out of one end of the loop bar and is used for clamping a trunk; the loop bar 6 is rotatably connected with the frame 1 along the horizontal direction, and the other end of the loop bar is rotatably connected with one end of the connecting rod 7; the linear driver 5 is arranged on the frame 1, is rotatably connected with the other end of the connecting rod 7, and is used for driving the connecting rod 7 to move so as to drive the two clamping arms to approach or move away from each other.
Specifically, the transmission device and the clamping device form a rocker-slider mechanism, when the clamping force needs to be adjusted, the linear driver 5 stretches and retracts to drive the other end of the connecting rod 7 to move, and one end of the connecting rod 7 drives the loop bar 6 to rotate, so that the distance between the two driven rods 4 is adjusted; when needs climbing the trunk, rotate driver 2 and drive the rotation of drive lever 3, drive bevel gear 31 drives driven bevel gear 41 and rotates, and then the other end of driven lever 4 can rotate along the trunk and realize the climbing. Wherein the other end of the driven rod 4 may be provided with a friction increasing member for increased safety.
The above is the first embodiment provided in the present application, and the following is the second embodiment provided in the present application, please refer to fig. 1 to 3 specifically.
A clamp-on tree-climbing robot comprising: frame 1, clamping device and transmission.
Wherein, transmission includes: the driving rod 3 is connected with the driven rod 4; a driving bevel gear 31 is fixedly connected to the driving rod 3; one end of the driven rod 4 is fixedly connected with a driven bevel gear 41; the driven bevel gear 41 is in transmission connection with the drive bevel gear 31; the rotary driver 2 is arranged on the frame 1, and the output end of the rotary driver is synchronously and rotatably connected with the driving rod 3 and used for driving the driving rod 3 to rotate so as to drive the driven rod 4 to rotate. The clamping device comprises: two clamp arms and a linear driver 5; the two clamping arms are arranged at intervals; the arm lock includes: a loop bar 6, a connecting bar 7 and a driven bar 4; the driven rod 4 can be rotatably sleeved on the loop bar 6, and the other end of the driven rod extends out of one end of the loop bar and is used for clamping a trunk; the loop bar 6 is rotatably connected with the frame 1 along the horizontal direction, and the other end of the loop bar is rotatably connected with one end of the connecting rod 7; the linear driver 5 is arranged on the frame 1, rotatably connected with the other end of the connecting rod 7, and used for driving the connecting rod 7 to move so as to drive the two clamping arms to approach or leave each other.
The number of the drive bevel gears 31 is 2 corresponding to the two clamping arms, and the mounting directions of the two drive bevel gears are opposite, so that the rotating directions of the rollers on the two upper clamping arms are opposite, and climbing or descending is realized. The sleeve rod 6 can be a hollow sleeve structure, and the driven rod 4 can be rotatably arranged in the sleeve rod 6 through a bearing and the like.
In this embodiment, the rotatable connection may be a hinge or the like, without limitation.
Further, the transmission device further comprises: a drive bevel gear 8; the radial directions of the drive bevel gear 31 and the driven bevel gear 41 are vertical directions; the radial direction of the transmission bevel gear 8 is the horizontal direction; the transmission bevel gear 8 is rotatably arranged on the frame 1 and is respectively in meshed connection with the drive bevel gear 31 and the driven bevel gear 41. The loop bar 6 and the transmission bevel gear 8 rotate coaxially.
In order to prevent the rotational axes of the loop bar 6 and the transmission bevel gear 8 from conflicting with the position where the loop bar 6 and the connecting rod 7 are connected, the loop bar 6 may be formed in an irregular bar shape, and specifically, the loop bar 6 may rotate in the horizontal direction without interfering with the rotation of the driven bevel gear 41.
Particularly, through setting up transmission bevel gear 8 for clamping device is when the interval of two arm lock of adjustment, and driven lever 4 can rotate around transmission bevel gear 8, stability when improving the arm lock interval adjustment.
Further, the other end of the driven lever 4 is provided with a first concave wheel 9 for gripping the trunk.
First concave wheel 9 rotates with driven lever 4 is synchronous, through first concave wheel 9, can be better with the trunk laminating, be favorable to the centre gripping trunk.
Further, please refer to fig. 3, which further includes: a driven clamping device; the driven clamping device comprises: two driven clamp arms; driven arm lock includes: a clamping rod 10 and a driven connecting rod 11; the two clamping rods 10 are positioned vertically below the two driven rods 4; the clamping rod 10 is rotatably connected with the frame 1 along the horizontal direction, and one end of the clamping rod is rotatably connected with one end of the driven connecting rod 11; the other end of the driven connecting rod is rotatably connected with the output end of the linear driver 5.
Through driven clamping device, when the interval of adjustment arm lock, driven connecting rod 11 drives clamping bar 10 synchronous adjustment to can improve the clamping-force to the trunk at the tight trunk of arm lock clamp.
Further, the end of the clamping bar is provided with a rotatable second concave wheel 12. The second concave wheel 12 can follow the first concave wheel 9 to rotate when climbing the trunk, thereby reducing friction.
The end face of the second concave wheel 12 contacting with the trunk can be provided with a compression spring, so that accidents that the robot is separated from the trunk and the clamping arm of the driven wheel is broken due to overlarge or undersize of an opening angle of the driven wheel caused by thickness change of the trunk in climbing and descending processes are avoided.
Further, the linear actuator 5 is a cylinder. The rotary drive 2 is a pneumatic motor.
In this embodiment, through setting up loop bar 6 and 8 coaxial rotations of transmission bevel gear, when can improve the stability when centre gripping interval adjustment, can also effectual save space, reach the purpose of highest work efficiency through simplest structure to reduce whole mechanism's volume and weight, also reduced the total cost of whole mechanism. The climbing driving device adopts a pneumatic motor, the weight of the climbing driving device is not large, the power is sufficient, the total weight of the robot is reduced, and the working efficiency is improved; meanwhile, the output speed of the pneumatic motor can be controlled by changing the air output of the pneumatic motor, and a transmission part does not need a speed reducer, so that the structure is relatively simpler, and the transmission efficiency is relatively higher.
Although the present invention has been described in detail with reference to examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (7)
1. The utility model provides a centre gripping formula tree climbing robot which characterized in that includes: the device comprises a frame, a clamping device and a transmission device;
the transmission device includes: the driving device, the driving rod, the driven rod and the transmission bevel gear are rotated;
the driving rod is fixedly connected with a driving bevel gear;
one end of the driven rod is fixedly connected with a driven bevel gear;
the driven bevel gear is in transmission connection with the driving bevel gear;
the rotating driver is arranged on the rack, and the output end of the rotating driver is synchronously and rotatably connected with the driving rod and is used for driving the driving rod to rotate so as to drive the driven rod to rotate;
the clamping device includes: two clamping arms and a linear driver;
the two clamping arms are arranged at intervals;
the arm lock includes: the sleeve rod, the connecting rod and the driven rod;
the driven rod can be rotatably sleeved on the loop rod, the other end of the driven rod extends out of one end of the loop rod, and the driven rod is used for clamping a trunk;
the loop bar is rotatably connected with the rack along the horizontal direction, and the other end of the loop bar is rotatably connected with one end of the connecting rod;
the linear driver is arranged on the rack, is rotatably connected with the other end of the connecting rod and is used for driving the connecting rod to move so as to drive the two clamping arms to mutually approach or move away;
the radial directions of the driving bevel gear and the driven bevel gear are vertical;
the radial direction of the transmission bevel gear is the horizontal direction;
the transmission bevel gear is rotatably arranged on the rack and is respectively in meshed connection with the driving bevel gear and the driven bevel gear.
2. The clamp-on tree-climbing robot of claim 1, wherein the loop bar rotates coaxially with the drive bevel gear.
3. The clamp-type tree climbing robot according to claim 1, wherein the other end of the driven rod is provided with a first concave wheel for clamping a trunk;
the first concave wheel is connected with the driven rod in a synchronous rotating mode.
4. The clamp-type tree climbing robot according to claim 1, further comprising: a driven gripping device;
the driven gripping device includes: two driven clamp arms;
the driven clip arm includes: the clamping rod and the driven connecting rod;
the two clamping rods are positioned vertically below the two driven rods;
the clamping rod is rotatably connected with the rack along the horizontal direction, and one end of the clamping rod is rotatably connected with one end of the driven connecting rod;
the other end of the driven connecting rod is rotatably connected with the output end of the linear driver.
5. The clamp-type tree climbing robot of claim 4, wherein the end of the clamping rod is provided with a second rotatable concave wheel.
6. The clamp-on tree-climbing robot of claim 1, wherein the linear drive is an air cylinder.
7. The clamp-on tree climbing robot of claim 1 wherein the rotary drive is a pneumatic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845818.3A CN113479270B (en) | 2021-07-26 | 2021-07-26 | Clamping type tree climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110845818.3A CN113479270B (en) | 2021-07-26 | 2021-07-26 | Clamping type tree climbing robot |
Publications (2)
| Publication Number | Publication Date |
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| CN113479270A CN113479270A (en) | 2021-10-08 |
| CN113479270B true CN113479270B (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110845818.3A Active CN113479270B (en) | 2021-07-26 | 2021-07-26 | Clamping type tree climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203831405U (en) * | 2014-04-17 | 2014-09-17 | 上海电机学院 | Gait pole-climbing robot |
| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN111386886A (en) * | 2020-04-19 | 2020-07-10 | 朱若良 | Rapid repairing method for branch of landscaping nursery stock |
| CN213029230U (en) * | 2020-08-23 | 2021-04-23 | 东北林业大学 | Spiral tree-climbing pruning robot for fast-growing forests |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110122102B (en) * | 2019-06-30 | 2024-04-26 | 南京林业大学 | Tree climbing pruning robot based on flexible cutter |
| WO2021022906A1 (en) * | 2019-08-02 | 2021-02-11 | 国网安徽省电力有限公司淮南供电公司 | Pole holding mechanism and manned pole climbing operation platform |
| CN112572631A (en) * | 2020-12-07 | 2021-03-30 | 马鞍山学院 | Wheeled outer pipeline climbing manipulator device |
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2021
- 2021-07-26 CN CN202110845818.3A patent/CN113479270B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203831405U (en) * | 2014-04-17 | 2014-09-17 | 上海电机学院 | Gait pole-climbing robot |
| CN106556684A (en) * | 2016-12-01 | 2017-04-05 | 华南理工大学广州学院 | A kind of new electrically driven (operated) detector for cables and detection method |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN111386886A (en) * | 2020-04-19 | 2020-07-10 | 朱若良 | Rapid repairing method for branch of landscaping nursery stock |
| CN213029230U (en) * | 2020-08-23 | 2021-04-23 | 东北林业大学 | Spiral tree-climbing pruning robot for fast-growing forests |
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| CN113479270A (en) | 2021-10-08 |
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